【作者】 李维林；

【导师】 孙尧；

【作者基本信息】 哈尔滨工程大学 ， 精密仪器及机械， 2004， 硕士

【摘要】 要实现惯性／重力组合导航，首先要建立需要导航区域的重力图数据库，该数据库数据的直接来源就是利用海洋重力仪逐一进行测量。在潜器航行过程中，需要利用海洋重力仪实时测量所在位置的重力值，以此和事先建立的该海区的重力图数据库一起，通过图的匹配方法实现重力对惯导误差的修正，从而达到无源导航定位的目的。 本论文以惯性／重力组合导航为应用背景，对海洋重力传感器的工作原理进行分析，并对其信号检测及数据处理方法进行研究。 论文首先对海洋重力测量的一系列理论及特殊性进行分析，讨论现有的各种海洋重力仪的工作原理及各自的优缺点。 其次，对CHZ型海洋重力传感器进行了分析，建立其数学模型，在此基础上，设计出了基于微机的CHZ型海洋重力传感器的模拟器及其信号检测回路。同时，本文还对海洋重力仪的数据处理方法进行了研究，并分析了主要的测量误差，数据处理及误差分析主要包括：E(o|¨)tv(o|¨)s修正及误差分析、消除高频扰动加速度的低通滤波器设计、重力仪零点漂移改正以及温度变化对海洋重力测量精度的影响分析。 最后，针对实现的海洋重力传感器模拟器，设计出了用于检测重力传感器信号的基于DSP的硬件电路，并利用DSP的高速运算性能，对所检测的重力传感器信号进行相应的处理，并和导航计算机实现数据通信。从而为惯性／重力组合导航打下一定基础。更多还原

【Abstract】 Consider to the needs of inertial navigation/gravity integrated navigation system, the database of gravity map of the area where vehicle will be navigated must be established at first. The data of the database is obtained by ocean gravimeter, an other hand, when vehicle works, the gravity must be measured by ocean gravimeter to reduce the error of inertial navigation system by map matching.For the purpose of inertial navigation/gravity integrated navigation system, this article analyses the principle of ocean gravimeter sensors and the way for detecting and processing of their signal.At first, this article analyses the theory and particularity of ocean gravity measurement, then talks about the operation principle of many ocean gravimeters and their merits and demerits.Secondly, the CHZ ocean gravimeter sensor is analyzed, and it’s mathematical model is obtained. On the basis of it, the article designs the simulator of the CHZ ocean gravimeter sensor and it’s signal detecting solution. The way for processing data of ocean gravimeter and main measurement error is researched, those include Eotvos correcting and error analyzing ,design of LP filter for eliminating the disturbing acceleration, "zero excursion" of gravimeter correcting and analyzing of the effect of temperature upon gravity measurement.Finally, this article designs on-based DSP hardware to detect the ocean gravimeter simulator’s signal that has been designed. The software is programmed to process the obtained data by making use of high-speed performance of DSP. The programs accomplish communication with navigation computer.The work in this paper can benefit inertial navigation/gravity integrated navigation system.更多还原